/**
*@note Copyright 2012-2022 CETHIK All Rights Reserved.
*@brief 基础层实现文件 
*@author tuyinan
*@data 2022-04-xx
*/

#include "costmap_2d/layer.h"

namespace costmap_2d {

Layer::Layer()
    : layered_costmap_(NULL),
      current_(false),
      enabled_(false),
      name_()
//, tf_(NULL)
{}

void Layer::initialize(LayeredCostmap* parent, std::string name,
                       ConfigFile* node, costmap_2d::DataCollector* collector) {
  layered_costmap_ = parent;
  name_ = name;
  // tf_ = tf;
  configNode_ = node;
  data_collector_ = collector;
  enabled_ = true;
  onInitialize();
}

const std::vector<costmap_2d::Point>& Layer::getFootprint() const {
  return layered_costmap_->getFootprint();
}

}  // end namespace costmap_2d
